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add clockwise image rotation #88

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3 changes: 3 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@ Example usages in launch folder (**only the argument `video_stream_provider` is
<arg name="flip_horizontal" value="false" />
<!-- flip the image vertically -->
<arg name="flip_vertical" value="false" />
<!-- rotate image clockwise by 90 degrees once -->
<arg name="clockwise" value="false" />
<!-- force a width and height, 0 means no forcing -->
<arg name="width" value="640"/>
<arg name="height" value="480"/>
Expand Down Expand Up @@ -80,6 +82,7 @@ If you want to publish all images (don't drop any and you don't mind some possib
* `camera_info_url`: camera info loading, take care as it needs the "file:///" at the start , e.g.: `"file:///$(find your_camera_package)/config/your_camera.yaml"`.
* `flip_horizontal`: flip horizontally the image (mirror it).
* `flip_vertical`: flip vertically the image (upside down).
* `clockwise`: rotate image clockwise by 90 degrees once.
* `loop_videofile`: if the provider is a video file, enable loop playback.
* `width` and `height`: force a width and height to the capturing device (if it allows), 0 means no forcing.
* `start_frame`: if the provider is a video file, set the start frame of video.
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1 change: 1 addition & 0 deletions cfg/VideoStream.cfg
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Expand Up @@ -21,6 +21,7 @@ gen.add("frame_id", str_t, LEVEL.RUNNING, "Camera FrameID", "camera")
gen.add("camera_info_url", str_t, LEVEL.RUNNING, "Camera info URL", "")
gen.add("flip_horizontal", bool_t, LEVEL.NORMAL, "Flip image horizontally", False)
gen.add("flip_vertical", bool_t, LEVEL.NORMAL, "Flip image vertically", False)
gen.add("clockwise", bool_t, LEVEL.NORMAL, "Rotate image clockwise by 90 degrees once", False)
gen.add("width", int_t, LEVEL.RUNNING, "Target width", 0, 0, 10000)
gen.add("height", int_t, LEVEL.RUNNING, "Target height", 0, 0, 10000)
gen.add("brightness", double_t, LEVEL.RUNNING, "Target brightness", 0.5019607843137255, 0.0, 1.0)
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3 changes: 3 additions & 0 deletions launch/camera.launch
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Expand Up @@ -19,6 +19,8 @@
<arg name="flip_horizontal" default="false" />
<!-- flip the image vertically -->
<arg name="flip_vertical" default="false" />
<!-- rotate image clockwise by 90 degrees once -->
<arg name="clockwise" default="false" />
<!-- force width and height, 0 means no forcing -->
<arg name="width" default="0"/>
<arg name="height" default="0"/>
Expand All @@ -44,6 +46,7 @@
<param name="camera_info_url" type="string" value="$(arg camera_info_url)" />
<param name="flip_horizontal" type="bool" value="$(arg flip_horizontal)" />
<param name="flip_vertical" type="bool" value="$(arg flip_vertical)" />
<param name="clockwise" type="bool" value="$(arg clockwise)" />
<param name="loop_videofile" type="bool" value="$(arg loop_videofile)" />
<param name="start_frame" type="int" value="$(arg start_frame)" />
<param name="stop_frame" type="int" value="$(arg stop_frame)" />
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2 changes: 2 additions & 0 deletions launch/mjpg_stream.launch
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Expand Up @@ -21,6 +21,8 @@
<arg name="flip_horizontal" value="false" />
<!-- flip the image vertically -->
<arg name="flip_vertical" value="false" />
<!-- rotate image clockwise by 90 degrees once -->
<arg name="clockwise" default="false" />
<!-- visualize on an image_view window the stream generated -->
<arg name="visualize" value="false" />
</include>
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2 changes: 2 additions & 0 deletions launch/rtsp_stream.launch
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Expand Up @@ -21,6 +21,8 @@
<arg name="flip_horizontal" value="false" />
<!-- flip the image vertically -->
<arg name="flip_vertical" value="false" />
<!-- rotate image clockwise by 90 degrees once -->
<arg name="clockwise" default="false" />
<!-- visualize on an image_view window the stream generated -->
<arg name="visualize" value="true" />
</include>
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2 changes: 2 additions & 0 deletions launch/video_file.launch
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Expand Up @@ -22,6 +22,8 @@
<arg name="flip_horizontal" value="false" />
<!-- flip the image vertically -->
<arg name="flip_vertical" value="false" />
<!-- rotate image clockwise by 90 degrees once -->
<arg name="clockwise" default="false" />
<!-- enable looping playback -->
<arg name="loop_videofile" value="true" />
<!-- start frame of video -->
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2 changes: 2 additions & 0 deletions launch/webcam.launch
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Expand Up @@ -21,6 +21,8 @@
<arg name="flip_horizontal" value="false" />
<!-- flip the image vertically -->
<arg name="flip_vertical" value="false" />
<!-- rotate image clockwise by 90 degrees once -->
<arg name="clockwise" default="false" />
<!-- force width and height, 0 means no forcing -->
<!--
<arg name="width" value="0"/>
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5 changes: 5 additions & 0 deletions src/video_stream.cpp
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Expand Up @@ -198,6 +198,10 @@ virtual void do_publish(const ros::TimerEvent& event) {
cv::flip(frame, frame, 1);
else if (latest_config.flip_vertical)
cv::flip(frame, frame, 0);

if (latest_config.clockwise){
cv::rotate(frame, frame, cv::ROTATE_90_CLOCKWISE);
}
}
cv_bridge::CvImagePtr cv_image =
boost::make_shared<cv_bridge::CvImage>(header, "bgr8", frame);
Expand Down Expand Up @@ -385,6 +389,7 @@ virtual void configCallback(VideoStreamConfig& new_config, uint32_t level) {
NODELET_INFO_STREAM("Setting buffer size for capturing frames to: " << new_config.buffer_queue_size);
NODELET_INFO_STREAM("Flip horizontal image is: " << ((new_config.flip_horizontal)?"true":"false"));
NODELET_INFO_STREAM("Flip vertical image is: " << ((new_config.flip_vertical)?"true":"false"));
NODELET_INFO_STREAM("Rotate clockwise image is : " << ((new_config.clockwise)?"true":"false"));
NODELET_INFO_STREAM("Video start frame is: " << new_config.start_frame);
NODELET_INFO_STREAM("Video stop frame is: " << new_config.stop_frame);

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2 changes: 2 additions & 0 deletions test/test_mjpg_stream.test
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Expand Up @@ -9,6 +9,7 @@
<arg name="camera_info_url" default="" />
<arg name="flip_horizontal" default="false" />
<arg name="flip_vertical" default="false" />
<arg name="clockwise" default="false" />
<arg name="loop_videofile" default="false" />
<arg name="width" default="0"/>
<arg name="height" default="0"/>
Expand All @@ -26,6 +27,7 @@
<param name="camera_info_url" type="string" value="$(arg camera_info_url)" />
<param name="flip_horizontal" type="bool" value="$(arg flip_horizontal)" />
<param name="flip_vertical" type="bool" value="$(arg flip_vertical)" />
<param name="clockwise" type="bool" value="$(arg clockwise)" />
<param name="loop_videofile" type="bool" value="$(arg loop_videofile)" />
<param name="width" type="int" value="$(arg width)" />
<param name="height" type="int" value="$(arg height)" />
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1 change: 1 addition & 0 deletions test/test_rtsp_stream.test
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Expand Up @@ -9,6 +9,7 @@
<arg name="camera_info_url" value=""/>
<arg name="flip_horizontal" value="false"/>
<arg name="flip_vertical" value="false"/>
<arg name="clockwise" value="false"/>
<arg name="visualize" value="false"/>
</include>

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1 change: 1 addition & 0 deletions test/test_video_file.test
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Expand Up @@ -8,6 +8,7 @@
<arg name="camera_info_url" value=""/>
<arg name="flip_horizontal" value="false"/>
<arg name="flip_vertical" value="false"/>
<arg name="clockwise" value="false"/>
<arg name="loop_videofile" value="true"/>
<arg name="start_frame" value="30"/>
<arg name="stop_frame" value="150"/>
Expand Down